diff --git a/Grbl_Esp32/src/Limits.cpp b/Grbl_Esp32/src/Limits.cpp
index 061bf92a..1678ff81 100644
--- a/Grbl_Esp32/src/Limits.cpp
+++ b/Grbl_Esp32/src/Limits.cpp
@@ -200,8 +200,8 @@ void limits_go_home(uint8_t cycle_mask, uint n_locate_cycles) {
 
         sys.homing_axis_lock = axislock;
         // Perform homing cycle. Planner buffer should be empty, as required to initiate the homing cycle.
-        pl_data->feed_rate =                    // Set current homing rate.
-            plan_buffer_line(target, pl_data);  // Bypass mc_line(). Directly plan homing motion.
+        pl_data->feed_rate = homing_rate;
+        plan_buffer_line(target, pl_data);  // Bypass mc_line(). Directly plan homing motion.
         sys.step_control                  = {};
         sys.step_control.executeSysMotion = true;  // Set to execute homing motion and clear existing flags.
         st_prep_buffer();                          // Prep and fill segment buffer from newly planned block.
diff --git a/Grbl_Esp32/src/Planner.cpp b/Grbl_Esp32/src/Planner.cpp
index 1b308df2..01f9be61 100644
--- a/Grbl_Esp32/src/Planner.cpp
+++ b/Grbl_Esp32/src/Planner.cpp
@@ -298,7 +298,7 @@ void plan_update_velocity_profile_parameters() {
     pl.previous_nominal_speed = prev_nominal_speed;  // Update prev nominal speed for next incoming block.
 }
 
-uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data) {
+bool plan_buffer_line(float* target, plan_line_data_t* pl_data) {
     // Prepare and initialize new block. Copy relevant pl_data for block execution.
     plan_block_t* block = &block_buffer[block_buffer_head];
     memset(block, 0, sizeof(plan_block_t));  // Zero all block values.
@@ -336,7 +336,7 @@ uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data) {
     }
     // Bail if this is a zero-length block. Highly unlikely to occur.
     if (block->step_event_count == 0) {
-        return PLAN_EMPTY_BLOCK;
+        return false;
     }
 
     // Calculate the unit vector of the line move and the block maximum feed rate and acceleration scaled
@@ -421,7 +421,7 @@ uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data) {
         // Finish up by recalculating the plan with the new block.
         planner_recalculate();
     }
-    return PLAN_OK;
+    return true;
 }
 
 // Reset the planner position vectors. Called by the system abort/initialization routine.
diff --git a/Grbl_Esp32/src/Planner.h b/Grbl_Esp32/src/Planner.h
index dd46923e..6f70bb19 100644
--- a/Grbl_Esp32/src/Planner.h
+++ b/Grbl_Esp32/src/Planner.h
@@ -37,10 +37,6 @@
 // new incoming motions as they are executed.
 const int BLOCK_BUFFER_SIZE = 16;
 
-// Returned status message from planner.
-const int PLAN_OK          = true;
-const int PLAN_EMPTY_BLOCK = false;
-
 // Define planner data condition flags. Used to denote running conditions of a block.
 struct PlMotion {
     uint8_t rapidMotion : 1;
@@ -100,7 +96,8 @@ void plan_reset_buffer();  // Reset buffer only.
 // Add a new linear movement to the buffer. target[MAX_N_AXIS] is the signed, absolute target position
 // in millimeters. Feed rate specifies the speed of the motion. If feed rate is inverted, the feed
 // rate is taken to mean "frequency" and would complete the operation in 1/feed_rate minutes.
-uint8_t plan_buffer_line(float* target, plan_line_data_t* pl_data);
+// Returns true on success.
+bool plan_buffer_line(float* target, plan_line_data_t* pl_data);
 
 // Called when the current block is no longer needed. Discards the block and makes the memory
 // availible for new blocks.